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   VI-MotionCueing&nbsp;&gt;</p>
      <h1 class="p_Heading1" style="page-break-after: avoid;"><span class="f_Heading1">Problem Statement</span></h1>

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<p class="p_Normal">In the figure below the platform used for developing the MCA is represented and it has been used for two years at the VI-grade SimCenter. The current document takes into account an extended cueing functionality developed for feeding the new DiM platform illustrate on the figure below.</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">The simulator kernel, i.e. the vehicle dynamics physical engine VI-CarRealTime feeds VI-DriveSim with vehicle dynamic states and has been extensively tested and validated for many years in several different automotive companies worldwide. VI-CarRealTime provides a highly reliable representation of the dynamics of the vehicle.</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal" style="text-align: center;"><img alt="mtncng_platforms" width="911" height="483" style="margin:0px auto 0px auto;width:911px;height:483px;border:none" src="mtncng_platforms.png"/></p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">The architecture of the DiM (patented by VI-grade) has 9 DOFs and is based on two coupled kinematic subsystem, one planar tripod and one spatial hexapod. The two subsystem are decoupled. The principles of VI-DriveSim does not differ depending on platform architecture, but obviously the implementation could. For example, for the DiM, VI-DriveSim &nbsp;takes advantage of the DOF redundancy to maximize driver’s perception.</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">The MC algorithm provides the displacement reference to the control system of the platform, which is assumed to be able to best track the reference signals. The inverse kinematic is normally computed in the platform controller, however VI-MotionCueing can be customized to provide directly actuator’s motion for a selected architecture. The conceptual scheme of the VI-DriveSim strategy is shown in Fig. 3, and is composed by the following steps: &nbsp;</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 7px 0px 0px 48px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span><span class="f_NormalIndentParameters">obtain the current useful vehicle states </span><img src="embim1.png" width="11" height="25" style="margin:1px; border:none" alt="" /><span class="f_NormalIndentParameters"> (translational acceleration and angular velocities on the driver's sensor-point, typically the hip reference of the driver while sitting in the cockpit); </span></p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 7px 0px 0px 48px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span><span class="f_NormalIndentParameters">obtain the perceived acceleration </span><img src="embim2.png" width="9" height="25" style="margin:1px; border:none" alt="" /><span class="f_NormalIndentParameters"> by filtering </span><img src="embim3.png" width="11" height="25" style="margin:1px; border:none" alt="" /><span class="f_NormalIndentParameters"> via the vestibular system model, thus generating the reference signal for the MPC algorithm;</span></p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 7px 0px 0px 48px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span><span class="f_NormalIndentParameters">using the MPC, compute the displacement signal </span><img src="embim4.png" width="10" height="25" style="margin:1px; border:none" alt="" /><span class="f_NormalIndentParameters"> passed to the platform control system in order to achieve the desired behavior on the driver’s sensor-point. </span></p><p class="p_Normal">&nbsp;</p>
<p class="p_Normal" style="text-align: center;"><img alt="mtncng_mc_strategy" width="1185" height="209" style="margin:0px auto 0px auto;width:1185px;height:209px;border:none" src="mtncng_mc_strategy.png"/></p>

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